The invention discloses a combined traction system composed of multiple steering wheel driving vehicles and a control method. The traction system comprises a transfer section and a plurality of steering wheel driving vehicles connected with the transfer section, and the steering wheel driving vehicles are in an air cushion driving vehicle combination mode that Mecanum wheels and steering wheels are combined. Multiple driving vehicles and a transfer section are in butt joint and combined to achieve forward movement, backward movement, oblique movement and steering of the transfer section, maximum traction control of a driver is achieved by controlling contact force of a steering wheel and the ground, in-situ omni-directional rotation of equipment is achieved by controlling lifting cooperation of the steering wheel and a parking mechanism, and therefore precise combined control over the equipment is achieved. An elevator wheel does not make contact with the ground during steering, abrasion of the elevator wheel is reduced, and the service life of the elevator wheel is prolonged; the steering precision is not influenced by the ground quality, so that the operability of the steering angle is high, and the precise operation of equipment is realized.
本发明公开了一种由多个舵轮驱动车组成的组合牵引系统及控制方法,牵引系统包括转运段和与转运段连接的若干个舵轮驱动车,舵轮驱动车由麦克纳姆轮与舵轮相结合的气垫驱动车组合方式,由多个驱动车与转运段对接组合实现转运段的前进、后退、斜行和转向,通过控制舵轮与地面的接触力实现驱动器的最大牵引力控制,通过控制舵轮与驻车机构的升降配合实现设备的原地全向转动,从而实现设备精准的联合控制。本发明中的升降舵轮转向时不与地面接触,减少了升降舵轮的磨损,提高了升降舵轮的使用寿命;转向精度不受地面质量影响,因此转向角度的可操作性强,实现设备的精准运行。
Combined traction system composed of multiple steering wheel driving vehicles and control method
一种由多个舵轮驱动车组成的组合牵引系统及控制方法
2021-06-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B60B VEHICLE WHEELS , Räder für Fahrzeuge / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen |
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